26 citations · 39 across the 4 of their papers we have counts for
5 papers
Tactile-RL for Insertion: Generalization to Objects of Unknown Geometry
Siyuan Dong, Devesh K. Jha, Diego Romeres +3
Object insertion is a classic contact-rich manipulation task. The task remains challenging, especially when considering general objects of unknown geometry, which significantly lim…
Extrinsic Contact Sensing with Relative-Motion Tracking from Distributed Tactile Measurements
Daolin Ma, Siyuan Dong, Alberto Rodriguez
This paper addresses the localization of contacts of an unknown grasped rigid object with its environment, i.e., extrinsic to the robot. We explore the key role that distributed ta…
GelSlim3.0: High-Resolution Measurement of Shape, Force and Slip in a Compact Tactile-Sensing Finger
Ian Taylor, Siyuan Dong, Alberto Rodriguez
This work presents a new version of the tactile-sensing finger GelSlim 3.0, which integrates the ability to sense high-resolution shape, force, and slip in a compact form factor fo…
Tactile Object Pose Estimation from the First Touch with Geometric Contact Rendering
Maria Bauza, Eric Valls, Bryan Lim +2
In this paper, we present an approach to tactile pose estimation from the first touch for known objects. First, we create an object-agnostic map from real tactile observations to c…
Feedback Control of the Pusher-Slider System: A Story of Hybrid and Underactuated Contact Dynamics
Francois Robert Hogan, Alberto Rodriguez
This paper investigates real-time control strategies for dynamical systems that involve frictional contact interactions. Hybridness and underactuation are key characteristics of th…